基于3-CCD显微视觉的高精度靶位姿控制
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摘要
针对高功率激光物理装置中的靶自动准直实验平台,提出了一种基于三路显微视觉的高精度靶位姿控制方法。该方法采用基于图像的显微视觉控制策略,通过对送靶机构的主动运动控制,实现了图像雅可比矩阵的在线自标定;利用增量式PI控制方法对送靶机构进行控制,实现靶的快速定位及姿态调整。本文对比了基于图像的显微视觉控制和之前研究中所提出的基于位置的显微视觉控制两种方法。其中,基于图像的控制方法靶的定位误差为0.07μm,姿态调整误差为0.02μrad;而基于位置的控制方法靶的定位误差为0.16μm,姿态调整误差为0.07μrad。实验结果表明:基于图像的显微视觉控制方法对系统中的运动学误差、视觉标定误差等因素具有较好的鲁棒性,靶定位及姿态调整的精度高且稳定性好。
A 3-CCD microscope vision system is established to realize micro-target pose adjustment in a high-power laser device with high precision.Image-based visual control method is performed,and the image Jacobian matrix is derived online by using the active movement of the micro-target.The PI controller is used to adjust the micro-target's pose so that the image features are close to the objective position.In the experiments,we compare the image-based visual control method with the positionbased visual control method,which was proposed in our previous research by using a 3 D posture description algorithm to control the micro-target to the desired pose.The precision of target positioning and orientation error for the image-based visual control method are 0.07μm and 0.02μrad,respectively,whereas the precision of target positioning and orientation error values for the position-based visual control method are 0.16μm and 0.07μrad,respectively.The experimental results show that the image-based visual control method is robust for system errors such as kinematic and visual calibration errors.Thus,it possesses better precision and stability for target pose adjustment.
A 3-CCD microscope vision system is established to realize micro-target pose adjustment in a high-power laser device with high precision.Image-based visual control method is performed,and the image Jacobian matrix is derived online by using the active movement of the micro-target.The PI controller is used to adjust the micro-target's pose so that the image features are close to the objective position.In the experiments,we compare the image-based visual control method with the positionbased visual control method,which was proposed in our previous research by using a 3 D posture description algorithm to control the micro-target to the desired pose.The precision of target positioning and orientation error for the image-based visual control method are 0.07μm and 0.02μrad,respectively,whereas the precision of target positioning and orientation error values for the position-based visual control method are 0.16μm and 0.07μrad,respectively.The experimental results show that the image-based visual control method is robust for system errors such as kinematic and visual calibration errors.Thus,it possesses better precision and stability for target pose adjustment.
引文
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[4]胡浩,梁晋,唐正宗,等.显微立体视觉小尺度测量系统的标定[J].光学精密工程,2014,22(8):1985-1991.HU H,LIANG J,TANG ZH Z.Calibration of stereo microscope measurement systems[J].Opt.Precision Eng.,2014,22(8):1985-1991.(in Chinese)
[5]胡小平,左富勇,谢珂.微装配机器人手眼标定方法研究[J].仪器仪表学报,2012,33(7):1521-1526.HU X P,ZUO F Y,XIE K.Research on hand-eye calibration method for micro-assembly robot[J].Chinese Journal of Scientific Instrument,2012,33(7):1521-1526.(in Chinese)
[6]王敏,黄心汉,吕遐东.微装配机器人无标定视觉伺服[J].华中科技大学学报,2011,39(S2):60-63..WANG M,HUANG X H,LU X D.Un-calibrated vision servoing for micro-assembly robots based on image Jacobian model recognition[J].J.Huazhong Univ.of Sci.&Tech,2011,29(S2):60-63.(in Chinese)
[7]史亚莉,张正涛,徐德.跨尺度微管微球三维半自动装配点胶系统[J].光学精密工程,2014,23(11):3121-3128.SHI Y L,ZHANG ZH T,XU D.3Dsemi-automatic assembly and dispensing system for trans-scale parts of micro-tube and micro-sphere[J].Opt.Precision Eng.,2015,23(11):3121-3128.(in Chinese)
[8]张林,杜凯.激光惯性约束聚变靶技术现状及其发展趋势[J].强激光与粒子束,2013,25(12):3091-3097.ZHANG L,DU K.Target technologies for laser inertial confinement fusion:State-of-the-art and future perspective[J].High Power Laser and Particle Beams,2013,25(12):3091-3097.(in Chinese)
[9]LING CHEN,HONG MAN,HUADING JIA.On scanning linear barcodes from out-of-focus blurred images:a spatial domain dynamic template matching approach[J].IEEE Transactions on Image Processing,2014,(23):2637-2650.
[10]LIU S Q,LIU S Y.Online-estimation of imagejacobian based on adaptive kalman filter[C].Proceeding of the 34th Chinese Control Conference,Hangzhou,P.R.China:2015:6016-6019.
[11]PENGCHENG C ZH,DE X,WEI Z,et al..Positioning cylindrical target based on three-microscope vision system[J].IEEE/ASME TRANSACTIONS ON MECHATRONICS,2014,19(5):1612-1624.
[12]张娟,徐德,张正涛,等.基于多路显微视觉的微零件自动对准策略[J].机器人,2014,36(1):69-75.ZHANG J,XU D,ZHANG ZH T,et al..An aut-omatic alignment strategy of micro parts based on microscope vision systems[J].ROBOT,2014,36(1):69-75.
[13]杨永猛.基于机器视觉的ICF靶精密装配技术研究[D].哈尔滨工业大学,2015.YANG Y M.Research on Technology of ICF Target Precision Assembly Based on Machine Vision[D].Harbin Institute of Technology,2015.(in Chinese)